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-Oct. .1923. Re. 15,594

A. D. TRENOR 'HELM LIMITING DEVICE Original Filed March '14,. 1918 2 SheetsF-Sheet 1 llillllllllllli l l g zuro AT'TbRNEY 0a. 2,1923. 1 Re. 15,594

', I A- D. TRENOR I 'HELH LIMITING DEVICE V Original File d March 14 1191s 2 Sheets-Sheet? m5 ATTORNEY Reissued Oct. 2, 1923.

" UNITED srA TEs .Re.l 5,694 PATENT OFFICE.

ALBERT n. ".mENon, or en'oocns'rna, riassaonusirrrs, ASSIGNOR TO JOHN HAYS HAMMOND, JR, or GLOUCESTER, MASSACHUSETTS.

ant c-LIMITING nnvron.

Original application filed March 14,. 191 8, Serial No Original lib/1,405,078, dated January :31, 1922. NO. 656,465. I

'and State. of Massachusetts, have invented; certain new and useful Improvements in" Helm-Limiting Devices, of which the following is a specification.

Some of the objects of the present invention are to provide a means for maintaining a moving body upon a certain predetermined course whereby any variation or devi- I ation of said body from the prescribedcourse is automatically and promptly corrected; to provide asteering mechanism adapted to move about a fixed axis through an angle proportioned in adefinite ratio to any angle ofdeviation of themoving body from a predetermined course; to provide means to automatically arrestthe movement of the f when in'operation is carried by a movable steering mechanism'after a certain angle of movement caused by the deviation of the moving body from its course; to provide means to vary the ratio of movement of the steering mechanism to thedeviation of the moving body according to the requirements,

In the accompanying drawings Fig. 1 is adiagrammatic representation vof a helm limiting device embodying the present in vention; Fig. 2 is a detail in elevation of the control mechanism; Fig. 3 'is a modification in plan of the motion transmitting meansfrom the steering mechanism; and Fig. 4' is a side elevation of the parts shown Re erring tov the drawings, one form of the invention comprises a rudder 10 which is rigidly secured to a rudder'post 11 which body and arranged to be rotated with re spect thereto-about an axis coincident withthe longitudinal axis. of the post "andfixed with respect to the movable body topsoil- I late the rudder 10 to control the movement of the movable" body. 'The' rudder 10 and rudder post 11 maybe usual ru'dder and rudder post" of a torpedo, a boat or other 1 marine vessel 11*, or might form pa'rt's i f anaircraftor other movablebody;

. Rigidly secured to the rudder post 11 is a lever arm 12 which is pivotally connected by means of a link 13 to one'end of a piston rod 14;, the other end otwhich; i 14l 222,359; Renewed April 15, 1921, Serial No; 461,676.

Application for reissue filed Augustv 8, 1928. Serial to a piston. 15 which is arranged to be ,reciprocated in a fixed cylinder 16 under the actionof compressed air or the like admitted means'of acylindrical slide valve 19. This.

valve'is of well known construction and includes. a movable double valve element 20 WhlCll opens and closes communication between a main pressure fluid supply pipe 21;

and thepipes 17 and 18- and between these latter and corresponding exhaust ports '22 The movable valve element 20 is H L 1 and 23.

operated and the direction of its movement selectively controlled by solenoids 24 and 25 having cores 26 and 27 respectively formlng extensions of the movable valve element 20. Suitable springs 28 and 29 serve to res turn and maintain the valve 20in neutral position when the solenoids are de-energ1zed.- r

The mechanism by which the solenoids are selectively energized to .control the rudder 10 according to requirements consists, in one embodiment of the invention of a shaft 31 which in the'form here describedforms an extension of. the rudder shaft 11, though this is'not always the case. This shaft 31 carries a contact arm-32 fixed to move with .said. shaft and to slidably engage alternately two arouate contact segments 33 and 34 mounted upon and rotatable with, but insu-' lated "from, a plate 35 whichis loosely mounted-upon the shaft 31 to rotate freely withrespect thereto: The ends of the two segments are suitably spaced apart by two insulation segments 36, so that in normal position the contact arm 32 rests on such insulation and the control circuits to thesolenoids arebrokenl Inforder to returnto. and alsojtoanaintain the plate 35 in this normal position a roller 37 or the likeis mounted upon-the plate 35 to rotate freelywith respect'thereto, about an axis fixed with. respect: to the plate and between-"two 'fol-- lowers 38 which are pressed towards eachotherrespectively by two opposed springs. 39, which respectively surround two aligned shafts 39', 39'" rigidly. secured :to the twof followers 38, 38, and arranged-to reciprocate respectively in two fixed bearings- 40,

so, The circuits controlled by'the segmentaand artn 'ha'v a conniion return conductor 42 connecting the solenoids 24 and 25 with the arm. 32 through a battery 43 and two separate conductors" 44 and 45 connecting the respective segine'iits" 33 and34 with the respective solenoids 24 and 25. p

For automatically rotating the plate 35, whereby-one or the other circuit is closed, ftSll'ltilblLClillZC-h mechanism is provided for frictionally locking the plate 35 to a gear 46 loosely mounted uponthe shaft 31 and rotated with respect thereto according to re qii-irements' means ofa'n electric motion repeater '47, the control of which will be later described. In the form shown this clutch consists of a. cylinder 48 secured to the Ila*t"35' and having a' piston 49 therein which is normally pressed outwardly by a spring 50.1 The piston 49 actuates a piston rdd 51 whichcarriesa clutch disc 52 which isj fiornia'lly' He1din frictional contact with the face of the" gear 46 whereby movement of'tli latter is transmittedat the plate and haul-tars i ri't-he required man'ner about the shaft '31" afidreiativeflto the arm 32. Should itdesired to release thejclutch, a pipe is oy'i'ddand adapted tdcbnvey pressure osana the spring 48. a valve 54. is the:

pipe 53 controlsthe' supply of fluid at will.

The electric repeater 47 whichactuates the ar 46 is actuated by an electrical transmitter 55" which is actuated by a gear 56 whichisrigidly' secured to a normally vertical shaft 56 which is arranged to rotate with respect" to the vessel or other movable way about ah. axis-fixed with respect to the. vessel or other movable body and coin ciden't with the longitudinal axis of the shg'ajft 56, and is be held against rotation in space" about that axisby means of a gyrosco p' 57 other suitable stabilizing means. The re'peate'r 4'7 isConIIected to the transmitter 55 through a four Wire cable 58, including a. battery 59. In the present construction the speed ratio is'greater than unity and such that the gear 46 rotates or tin'ris'a't an angular rate of rotation greater than" the angular rate of rotation of the gyroents. In'the form shown by way of example the gear ratio is 2.; to 1 and consq'iiently' a deviation of the moving body five degrees from its true course-will resultinjthe gear 46' being turned in the opposite direction through an angle oftwelve and one' half degrees.- This la'tterangle must be tamed by the arm 32 befoieiit returns to normal position u-pon-the insulating block.

diid'h'nceitlfe' rudder movement isi limited 'to it definite "predeterrH-ined movement.

Thedperation of'th form of this inven tion shownin Figures l and 2 and just de scribes as follows? Assuming that the" mova i s b y whiah is being steered 011 a P determined coursei'should deviate from that course, "for example five degrees to the right. The first result oi this action is a relative movement between the moving body and the gear 56' of the gyro-compass since this latter fixed in space and consequently moves with'respect to the body five degrees to the left or counter-clockwise. This movement istransmitted to thegear 46,0whic'h, due to the speed ratio and gearingis moved twelve and one half degrees to the right or clockwise, thus corresponding to the arm 32 and bringing the latter into contact with the segment 34. The electric circuit controlled by the contact arm 32and segment 34 is thus closed, and the solenoid 25 energized, whereupon the core 26 is shifted so that the slide valve 20 opens the pipe 17 to the supply of pressure fluid from pipe 21; This admits pressure to the motor; cylinder 16 and causes the piston 15 to move to the left (Fig; 1-) thereby throwing the rudder in the direction required to returnthe body to its prescribed course and correct its deviation. In addition to moving the rudder. the turningof tliepost 11 also turns the shaft 31' which carries thecontact arm 32, so that as the angle o-f'the rudder is increasing the angle. of the arm 32 relative to its normal position upon the insulation is decreasing. .n'consequence, when'the rudder has swung through twelve and one half degrees the contact arm 32 has reached the insulation and the circuit through the solenoid 25 is broken, with the resultthat the solenoid is tie-energized, {its core returned by the spring action, and the pressure fluid cut off from the motor. The pipe 17 consequently exhausts by way of port 22 and the rudder is stopped in a position to return to bring the moving body back to its predetermined course; As the body swings to the left or counter-clockwise under the action of the rudder in its new position, the plate 85 will be turned in a.;counter-clockwise direction with respect to the moving body under the action of the gYI'O COIIIPaSS 57 and the arm 32 will make contact with the segment 33, thus energizing the solenoid 24 and thus causing the rudder. 10 to be. turned in a counter-clockwise direction until the arm 32 is again on theinsulation segment 36, when the movement of the rudder will be stopped. It is, therefore, evident that the rudder 10'will be displaced from its central position; anamount proportional to the deviation of the moving object fronithe predetermined course, and in adirection to bringthe body back to the predetermined course. The proportion; in the preferred form, givesa movement'of the rudder two and one half times that of the amount of deviation of the body, but it should be understood that this ratio of movement may be, varied as required or necessary:

I Figures?) and 4, another embodiment of this invention. is disclosed, wherein the control shaft 31 is separated from the rud' 'der post 11, though connected thereto by suitable means for proportioning the throw ofthe rudder relative to the deviation of the moving body from its course. This mechanism comprises an arm clamped to the post 11 for movement therewith, and having its freeend pivotedto'an adjustable rod61 which carries a movable pivot 62 adapted to be clamped in any desired position" in a Slot 63 of a lever 64. This latter operates the shaft 31 whereby the contactarm 32 is returned to normal position,

which operation fixes the limit of angular,

deviation of the rudder as will be understood. The interposition of the "connecting means between the post 11 and shaft Bl makes it unnecessary to-employ a repeater between the gyro-compass 57 and the plate 35, and consequently these devices are directly coupled through the medium of a releasable clutch 66 comprising a cylinder 67 having a piston 68 arranged therein for re ciprocatory movement and normally'pressed in one direction by" a spring 69.- A piston rod 70 has one end secured to the piston 68 and its Opposite end 'is secured to a clutch disc 71, whi'chis encircled by and'arranged to cooperate'with ajhollow clutch member 72 rigidly secured to the gyroscope stem 7 -AI3ipe 74 passes into the fixed bracket sup port 7 5 and communicates with a groove 76 in the support, which groove 76 communicates through a port 7 7 with the interior of p the cylinder 67 so that when the valve 78 in pipe 74 is open, pressure fluid is admitted to'the opposite side ofpiston 68 from the.

grees to thei-ight. The 'first result of this rotation is a relative movement between the moving body and the gyro-compass '57, since this latter is fixed in space and consequentlymoveswith respect to the: moving body'five degrees to' theileft, or counterclockwise. Thiscauses tl1e-"p1ate-35to move Iaina similar "manner with respect'to the moving body, and 'therefore causes the contact segment -34 to move under the brush 32, which energizes "the solenoid-25, which moves the rudder 10 in a clockwise direc 1 tion,' as' previously described;to return the movin'gbody to t-hepredetermined course.

It} therefore "follows that'the rudder 10 will be movingthrough an' angle'which is proportional to the angle thrcugh which the moying body has turned, and in a direction which will tend to return the moving body to its predetermined course.

In case it is desired cooperate the rudder.

and move the piston 48 in adirection to release the frietion'disc 32 from engagement with the gear 46. This renders this portion of the mechanism inoperative and control of the rudder shifting piston 15 is'had by way of the pressure fluid pipes and 81. after the valves 82 and 83 have been opened and the valve 85 closed. Anysuitable control may be employed withthe pipes 80 and 31 to control the movement of the body at will. When, however, the automatic helm limiting means is in'use the valves 82, 83 and 54 are closed and the valve openedas will be understood.

In case it is desired to operate the rudder operating means by a control separate from the automatic means shown in Fig. 4, the valve .7 Sis opened to admit pressure "fluid to the cylinder 67 to overcome the spring pressure. and move the piston 68 in. a direction to release the friction disc 71 from engagement with the hollow clutch member '72. This renders this portion of the mechanism inoperative and control of the} rudder shifting piston 15 is-had by way of the pressure fluid pipes 80 and 81 after the valves 82 and 83 have been opened and the valve 85- closed. Any suitable control may be employed with the pipes 80and .81 to control the movement of the body at will. VVhen,however, the automatic helm limit-- ing-means is in usethe valves 82, 8,3 and 78 are closed and the valve 85 opened as will be understood.

Having thus described this invention, I claim and desirelto protect by Letters Patent: r

1'. The combination with 'a dirigible bo dy of a rudder operatively mounted thereon, and'actuating means for said rudder including a rotatable segmental contact, an electrical contact arranged to cooperate with said segmental contact, an electrical device ins controlled-bythe cooperation of said contacts, andmeans automatlcally operative as a result of a deviation of said body from a predetermined normal course to rotate Said and actuatin means for saidrudder includingthe rotatable segmental contact, an electrical contact arranged to cooperate with said segmental contact, an electrical deof said body from the predetermined normal course to rotate said segmental contact at an angular rate different from the-angular rate of deviation of said body from said normal course, to return said body to said normal course.

3. The combination with a dirigible body of a rudder and actuating meansfor said rudder including a rotatable segmental contact, an electrical contact arranged to cooperate with said segmental contact, an electrical gyroscopic stabilizing means automat: ically operative as a result of adevlatlon of said body from a predeterm ned normal course to rotate said segmental contact at an angular rate difierent from theangular rate of deviation of said body from sald normal course, to return said body to said normal course.

4:. The combination with a dirigible body, of a rudder operatively mounted thereon,

' and actuating means for said rudder including a rotatable segmental contact, an electrical contact arranged to cooperate w th said segmental contact, an electrical devlce controlled by the cooperation of sald contacts, and gyroscopic stabilizing means automatically operative as a result of the dramation of said body from thepredetermined normal course, to rotate said segmental contact at an angular rate greater than the angular rate of deviation of said body from said normal course to returnsaid bodyto said normal course.

5. The combination with a dirigible body, of a rudder operatively mounted thereon, and actuating means for said rudder includ ing a rotatable-segmental contact, an electrical contact arranged to cooperate with said segmental contact, an electricaldevice controlled by the cooperation of said contacts, and gyroscopic stabilizing means auto; matically operative as a result of a deviation of said body from the predetermined normal course, to rotate said segmental contact at an angular rate greater than the angular rate of deviation of said body from said normal course, to return said body to said normal course.

6. 'The combination with a dirigible body, of a rudder operatively mounted thereon, and actuating means for controlling said ru'ddcr, including a pair of spaced electrical contacts arranged to rotate in unison with respect tosaid bodyabout a fixed axis, a contact arm cooperating with said contacts and arranged to move synchronously with said rudder, means automatically operating as a result of an angular deviation of said body from a predetermined normal course to rotate said electrical contacts in unison about saidaxis at an angular rate different from the angular ratejof deviation of said body from said course and means including a plurality of electrical devices controlled by said electrical contacts and said contact arm for operating said rudder so as to return said movable body to its normal course upon be ing deviated therefrom;

7. The combination with a dirigible body, of a rudder operatively mounted thereon, and actuating means for controlling said rudder, including a pair of spaced electrical contactsarranged to rotate in unison with re spect to said body about a fixed axis, a contact arm cooperating with said contacts and arranged to move synchronously with said rudder, gyroscopic stabilizing means automatically operating as result of an angular deviation of said body from a predetermined normal course to rotate said electrical contacts in unison about said axis at an angular rate different from the angular rate of deviation of said body from said course and means including aplurality ofelectrical devices controlled by said electrical vcontacts and said contact arm for operating said rudder so as to return said movable body to its normal course uponbeing' deviated therefrom. I 7 I i 8. The combination With a dirigible body, of a rudder operatively mounted thereon, including a pair of spaced electrical contacts arranged to rotate in unison with respect to said body about a fixed axis, a contact arm cooperating with said contacts an'darranged to move synchronously with said rudder, means automatically operating as a resulufl of an angular deviation of said body from a predetermined normal course to rotate said electrical contacts in unison about said axis at an angular rate greater'than the angular rate of deviation of said body from said course and means. including a plurality of electrical devices controlled by said electrical contacts and said contact arm for operating rudder," gyroscopic stabilizing means automatically operating as a result of an angular deviation of saidbody from a predetermined normal course to rotate said electrical contacts in unison about saidaxis at an angular rateof said body from said course and means including a plurality of electrical devices controlled by said electrical contacts and said contact arm for operatingsaid rudder so as to returnsaid movable body! for moving said rudder, gyroscopic stabiliz- "ing means and means including a clutch operatively connecting said means and said spaced contacts, said gyros'copic stabilizing means being operative through said clutch as a result of a deviation 50f said body from a predetermined normal course to rotate said spaced contacts at an angular rate diflerent from the rate of deviation of said body from (said normal course to return said body to said normal course after having been de- -viated therefrom and said clutch being operative to disconnect said stabilizing means fromsaid spaced :contacts to permit said rudder to be controlled selectively independently of said gyroscopic means.

. 11. The-{combination With a dirigiblc .body, of a rudder, actuatin meansfforsaid rudder including a pair 0 spaced contacts arranged to rotate-in unison with respect to said body, an electr cal contact arranged to cooperate with said spaced contacts and i y o eratlng in synchronism'vvith said rudder, elcctrical means controlledby sa d contacts for moving said rudder, gyroscop c stabilizing means, and means including a pneumatic clutch operatively connecting said stabil z- 'ing means and'sa-ld spaced contacts, said gyroscopic stabilizing means being operative through sa1d clutch as a'result of a deviation of said body froma 'predetermined normal H after having been deviated therefrom,;and'

course to rotate said. spaced contacts at an angular rate different from the rate. of deviation of said body from'said normal course to return said body to sa d normal course said clutch being operative to disconnect said stabilizing means from said spaced contacts to'permit'said rudder tobe controlled selectively independently of said gyroscopic means. i

' 12. The combination with a dirigible rotatable with respect thereto to cause a stantially ertical axis, andenergy distributingmeans carried by. said body to rotate said 'rudder with respectv to said body,

comprising automatic, stabilizing means, an electrical v contact rotatable wlth respect to said body and controlled in rotation by said stabilizing means, and an electrical contact arranged to engage said first mentioned contact and operatively connected to and rostabilizing" tating jivith respect 130 said body in synchronism with said rudder, the arrangement'being suchthat Whenever said body is rotated about said normally:substantially vertical. axis through;a variable angle, one of said contactspwillbe automatically rotated through an angle different in extent from the angle of rotation of said body, but having a substantially constant ratio there to to causesaid rudder to-be rotated With respect tosaid body through an angle difi'ering accordingly in extent fromthe angle of rotation of said .body about said normally upright axis. I a

13. In a steering mechanism, a movable body, a rudder operatively mounted thereon, operating 1 means for said rudder, rudder limiting means arranged to be operated .by the deviation of said body body, a'rudder operatively mounted thereon,

operating means for said rudder, rudder lim ting means arranged to be operated by the deviatlon of sald body from its course for controlling'said rudder operating means,

and means to move said, limiting means faster than thegrate "of deviation of said body'. Q I i 15; In a steering mechanism, a movable body, a rudder operatively, mounted there- .on, operating means for said rudder, rudder limiting means arranged to be operated by the devlation of said body from its course for controlling said rudder operating means,

and means to move said limitingmeans at a rate proportionately greater than the deviating movement of said body.

16. In a steering mechanism, a'movable body, a rudder operatively mounted thereon,

operating means :for said rudder, rudder limiting means arranged to be operated by the deviation of said body from its course foreontrolling said rudder operating means, and means including a "segmental contact and circuit controlled electro-magnets for controlling the operation of and limiting the operation of said rudder operating means,

said body. j

17. In a steering mechanism, a movable body, arudder operatively mounted thereon,

operating means for said. rudder, rudder limiting-means arranged'to be operated by and means to move said limiting means at a g 7 rate different from the rate of deviation of body, of a rudder carried by said, body and the deviation of said'body from its course I I for controlling said rudder operating means, and means *including-a movable segmental contact" and circuit controlled electro-magnets for controlling the operation of and limiting the operation of said rudder oper 'ating means, and means to turn said contact at a rate'difl'erent from therate of deviation of said body. 'f v g l8. Ina steering mechanism, a movable body, a rudder operatively'mounted there- 5 on, operating means forvsaid rudder, rudder limiting means arranged to be operated by the deviation of said body from its course for controlling said rudder operatmg means, 

